im not sure as to how it relates to blender, but to create a limb i generally use a format like this:
rem make ur object and morph it into wat u want for the limb
make object sphere 1,1
rem get the mesh from it (make mesh from object meshnum,objnum)
make mesh from object 1,1
rem delete the original
delete object 1
rem make the new object
make object sphere 1,1
rem add limbs (im using two) (add limb objnum,limbnum,meshnum)
add limb 1,1,1 : add limb 1,2,1
rem to position ur limbs relative to the object main limb (limb 0) use offset limb (offset limb objnum,limbnum,x,y,z)
offset limb 1,1,0,.5,0 : offset limb 1,2,0,1,0
remember tho that primitives use limb 0 as the main limb, also you can rotate limbs using (rotate limb objnum,limbnum,x,y,z) or (x/y/zrotate x/y/z value), although how they rotate is relative to the main limb so dont expect limbs to rotate how you expect them
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